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EE-561: Digital Control Systems


Dr. Abubakr Muhammad, Assistant Professor of Electrical Engineering

Email: abubakr [at]

Office: Room 9-351A, 3rd Floor, SSE Bldg

Course Details

Year: 2013-14

Semester: Fall

Category: Undergrad

Credits: 3

Elective course for electrical engineering majors

Course Website:

Course Description

Design and digital implementation of multiple-input, multiple-output (MIMO) linear feedback control systems for specified dynamic response; z-transform and sampling; exposure to embedded control systems; state-space based models; introduction to advanced concepts of multi-variable control. Design and implementation project on real-time digital control.


  • To build on students’ undergraduate exposure to feedback control and teach advanced design techniques
  • To impart knowledge of practical issues related to the implementation of feedback controllers using digital processors.
  • To introduce advanced techniques of linear multivariable control system design.
  • To expose students to aspects of embedded control systems as practiced in robotics, automotive, aerospace, process industries.
  • To prepare students for advanced courses in mathematical control theory and practical control engineering.

Learning Outcomes

  • Identify state, measurement and control in a given problem.
  • Design controllers for linear models of systems using MATLAB and SIMULINK.
  • Select and program real-time digital controllers on platforms similar to PC, microcontroller, DSP.
  • Predict performance for complex multivariable control tasks.


EE-361. Feedback Control Systems

Text book

The course will be taught from the following textbooks.

  • FranklinF. Feedback control of dynamic systems by Franklin, Powell and Emami-Naeni (5th edition), Pearson, 2006.
  • FranklinD. Digital control of dynamic systems by Franklin, Powell and Workman (3rd edition), Addison Wesley, 2000.

Other important references include

  • Computer controlled systems by Karl Astrom and Bjorn Witternmark, Prentice Hall, 1997.

Grading Scheme

Homeworks+Quiz : 15%

Project: 20%

Midterm: 30%

Final : 35%

Policies and Guidelines

  • Quizzes will be announced. There will be no makeup quiz.
  • Homework will be due at the beginning of the class on the due date. Late homework will not be accepted.
  • You are allowed to collaborate on homework. However, copying solutions is absolutely not permitted. Offenders will be reported for disciplinary action as per university rules.
  • Any appeals on grading of homeworks, quiz or midterm scores must be resolved within one week of the return of graded material.
  • Attendance is in lectures and tutorials strongly recommended but not mandatory. However, you are responsible for catching the announcements made in the class.
  • Many of the homeworks will include MATLAB based computer exercise. Some proficiency in programming numerical algorithms is essential for both the homework and project.

Course Delivery Method

Lectures. Mon, Wed: 11:00pm-12:15pm. 10-302. SSE Bldg

Recitations. Fri. 11:00-11:50am. SC1.


Week 1. Aug 19 Lecture 1. Introduction to concepts of control, feedback, feedforward, uncertainty and robustness;

Recitation. Review of SISO continuous-time signals and systems;

FranklinF Ch1;
Week 2. Aug 26 Lecture 2. Review of SISO feedback control; rational LTI systems; geometry of 2nd order poles; error expression in closed loop and open loop systems; sensitivity function; control design objectives;

Lecture 3. Summary of control design; compensators and PID controllers; introduction to sampled data systems; Naive approaches towards emulation; Euler's forward approximation; a pseudo-algorithm for controller implementation;

FranklinD 2, FranklinF 4.4
Week 3. Sept 2 Lecture 4. Digital control by emulation; Euler's forward and backward approximation; trapezoidal rule; approximation of a continuous time compensator; zero order hold (ZOH) and delays; general difference equations; introduction to the Z-transform;

Lecture 5. Solution of difference equations by Z-transform method; transfer functions; integrator approximation in transform domain; continuous-to-discrete approximations for controller synthesis by emulation; block diagram representations using delays, summers and gain

Recitation / Seminar. Feedback control scheduling of crane control systems. Announcement Slides

FranklinD Ch 3

Home work #1

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